Journal of information and communication convergence engineering

  • 제19권1호
  • /
  • Pages.61-66
  • /
  • 2021
  • /
  • 2234-8255(pISSN)
  • /
  • 2234-8883(eISSN)
한국정보통신학회 (The Korea Institute of Information and Commucation Engineering)
권호 표지
DOI QR코드

DOI QR Code

Implementation of an Underwater ROV for Detecting Foreign Objects in Water

  • Lho, Tae-Jung (Department of Mechatronics Eng., Tongmyong University)
  • 투고 : 2021.02.05
  • 심사 : 2021.03.02
  • 발행 : 2021.03.31
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

An underwater remotely operated vehicle (ROV) has been implemented. It can inspect foreign substances through a CCD camera while the ROV is running in water. The maximum thrust of the ROV's running thruster is 139.3 N, allowing the ROV to move forward and backward at a running speed of 1.03 m/s underwater. The structural strength of the guard frame was analyzed when the ROV collided with a wall while traveling at a speed of 1.03 m/s underwater, and found to be safe. The maximum running speed of the ROV is 1.08 m/s and the working speed is 0.2 m/s in a 5.8-m deep-water wave pool, which satisfies the target performance. As the ROV traveled underwater at a speed of 0.2 m/s, the inspection camera was able to read characters that were 3 mm in width at a depth of 1.5 m, which meant it could sufficiently identify foreign objects in the water.

키워드

참고문헌

  1. K. T. Park and T. J. Lho, "A study on development of screen inspection system to detect damages, bowing, and foreign materials of nuclear fuel assembly for reactor in nuclear power plants," Journal of The Korea Academia-Industrial Society, vol. 14, no. 8, pp. 3617-3624, 2013. DOI: 10.5762/KAIS.2013.14.8.3617.
  2. K. T. Park, S. J. Kim, and T. J. Lho, "A development of a general purposed control system of robot end effector for inspection and maintenance of steam generator heat pipe," Journal of The Korea Academia-Industrial Society, vol. 14, no. 1, pp. 33-38, 2013. DOI: 10.5762/KAIS.2013.14.1.33.
  3. J. W. Cho, Y. S. Choi, K. M. Jeong, S. U. Lee, Y. C. Seo, and S. H. Kim, "Remote Visual Inspection of Cold Leg Pipe of Nuclear Reactor Using the Underwater Mobile Robot," in Proceedings of the 2004 IEIEE Summer Conference, vol. 27, no. 1, pp. 1513-1516, 2004.
  4. D. W. Yun, J. H. Kyung, C. H. Park, Y. J. Yu, and M. H. Kim, "A study on the thrust of underwater robot," in Proceedings of the 2011 KIEE Summer Conference, pp. 1936-1937, Jul. 2011.
  5. H. T. Choi, K. H. Kim, P. M. Lee, C. M. Lee, and B. H. Jun, "Introduction to ROV and motion control & signal processing for ROV (remotely operated vehicle) Hemire," Journal of Korean Society for Precision Engineering, vol. 26, no. 5, pp. 41-47, 2009.
  6. Y. S. Choi and K. M. Jeong, "Development of Remote Operated Visual Inspection Robots for Reactor Vessel Upper Head and Bottom Head," in Proceedings of the CASS 2008 Fall Conference, pp. 629-630, Oct. 2008.
  7. S. H. Kim, Y. K. Bae, K. M. Jeong, and H. S. Na, "Control system of in-pipe inspection mobile robot," in Proceedings of the ICROS 2016 Spring Conference, pp. 412-413, Mar. 2016.
  8. S. Y. Kim, "Implementation of IRWST underwater inspection robot with quad-thrusters," Master's Thesis, Tongmyong University, Busan, Rep. of Korea, Feb. 2019.